Path planning of an autonomous mobile robot using swarm based optimization techniques
Other Title(s)
التنبؤ بأفضل مسار للروبوت المتنقل باستخدام خوارزميات الأسراب الأمثلية
Joint Authors
Ujayl, Fatin Hasan
Ibrahim, Ibrahim Qasim
Source
al-Khwarizmi Engineering Journal
Issue
Vol. 12, Issue 4 (31 Dec. 2016), pp.12-25, 14 p.
Publisher
University of Baghdad al-Khwarizmi College of Engineering
Publication Date
2016-12-31
Country of Publication
Iraq
No. of Pages
14
Main Subjects
Topics
Abstract EN
This paper presents a meta-heuristic swarm based optimization technique for solving robot path planning.
The natural activities of actual ants inspire which named Ant Colony Optimization.
(ACO) has been proposed in this work to find the shortest and safest path for a mobile robot in different static environments with different complexities.
A nonzero size for the mobile robot has been considered in the project by taking a tolerance around the obstacle to account for the actual size of the mobile robot.
A new concept was added to standard Ant Colony Optimization (ACO) for further modifications.
Simulations results, which carried out using MATLAB 2015(a) environment, prove that the suggested algorithm outperforms the standard version of ACO algorithm for the same problem with the same environmental conditions by providing the shortest path for multiple testing environments.
American Psychological Association (APA)
Ibrahim, Ibrahim Qasim& Ujayl, Fatin Hasan. 2016. Path planning of an autonomous mobile robot using swarm based optimization techniques. al-Khwarizmi Engineering Journal،Vol. 12, no. 4, pp.12-25.
https://search.emarefa.net/detail/BIM-737408
Modern Language Association (MLA)
Ibrahim, Ibrahim Qasim& Ujayl, Fatin Hasan. Path planning of an autonomous mobile robot using swarm based optimization techniques. al-Khwarizmi Engineering Journal Vol. 12, no. 4 (2016), pp.12-25.
https://search.emarefa.net/detail/BIM-737408
American Medical Association (AMA)
Ibrahim, Ibrahim Qasim& Ujayl, Fatin Hasan. Path planning of an autonomous mobile robot using swarm based optimization techniques. al-Khwarizmi Engineering Journal. 2016. Vol. 12, no. 4, pp.12-25.
https://search.emarefa.net/detail/BIM-737408
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 23-24
Record ID
BIM-737408